
# glog gflags
sudo apt-get install libgoogle-glog-dev libgflags-dev -y

# install cartographer cartographer-rviz cartographer-ros ...
# sudo apt-get install ros-noetic-cartographer* -y

# install realsense
# sudo apt-get install ros-noetic-librealsense2* -y
# sudo apt-get install ros-noetic-realsense2-* -y
# sudo apt-get install ros-noetic-robot-state-publisher -y

# install lslidar_x10_driver depends
sudo apt-get install libpcap-dev -y
sudo apt-get install ros-$ROS_DISTRO-diagnostic-updater -y
sudo apt-get install ros-$ROS_DISTRO-tf* -y

# Hybrid A* Path Planner
sudo apt install libompl-dev -y

# ros
# 获取ROS环境变量 printenv | grep ROS
# 获取ROS版本信息 rosversion -d
sudo apt-get install ros-$ROS_DISTRO-stage-ros -y
sudo apt-get install ros-$ROS_DISTRO-navigation -y
sudo apt-get install ros-$ROS_DISTRO-serial -y
sudo apt-get install ros-$ROS_DISTRO-rosbridge-suite -y
sudo apt-get install ros-$ROS_DISTRO-tf2-web-republisher -y
sudo apt-get install ros-$ROS_DISTRO-plotjuggler ros-$ROS_DISTRO-plotjuggler-ros -y
sudo apt-get install ros-$ROS_DISTRO-teleop-twist-keyboard

TROBOT_ROS="/home/xxty/trobot/trobot_ros"
rm -rf $TROBOT_ROS/thirdparty/libuvc/build

# astra_camera
sudo apt install -y libgflags-dev  ros-$ROS_DISTRO-image-geometry ros-$ROS_DISTRO-camera-info-manager \
 ros-$ROS_DISTRO-image-transport ros-$ROS_DISTRO-image-publisher libgoogle-glog-dev libusb-1.0-0-dev libeigen3-dev

# git clone https://github.com/libuvc/libuvc.git
# cd libuvc
cd $TROBOT_ROS/thirdparty/libuvc
mkdir build && cd build
cmake .. && make -j4
sudo make install
sudo ldconfig


# cgal
sudo apt-get install libcgal-dev libcgal-demo -y
